#ifndef IMU_H
#define IMU_H
#include"utility.h"

extern const int ImuFrequency = 500;
class IMU{
  public:

  Eigen::Matrix3d RPY;

  double dt=0.004;//采样时间
  double gravity=9.80511;
  double bias=0.037;
  double N_noise=0.34;

  double acc_x;
  double acc_y;
  double acc_z;

  double angle_v_x;
  double angle_v_y;
  double angle_v_z;

  double pitch;
  double roll;
  double yaw;

  double ACC_N=0.1;
  double GYR_N=0.1;
  double ACC_W=0.1;
  double GYR_W=0.1;

};




#endif // IMU_H
